Navigation and Self Alignment of Inertial Systems using Nonlinear H∞ Filters
Micro electromechanical sensors (MEMS) play a vital
role along with global positioning devices in navigation of
autonomous vehicles .These sensors are low cost ,easily available but
depict colored noises and unpredictable discontinuities .Conventional
filters like Kalman filters and Sigma point filters are not able to cope
with nonwhite noises. This research has utilized H∞ filter in nonlinear
frame work both with Kalman filter and Unscented filter for
navigation and self alignment of an airborne vehicle. The system is
simulated for colored noises and discontinuities and results are
compared with not robust nonlinear filters. The results are found
40%-70% more robust against colored noises and discontinuities.
[1] Dan Simon,"Optimal state estimation ,Kalman ,H∞ and nonlinear
approaches",A John Wiley and Sons,INC.,Publication,2006,pp. 331-371
[2] Dan Simon, "From here to infinity, embedded system
programming"(short course), July 2000.
[3] David H.Titterton., John L. Weston, "Strap down inertial
navigationtechnology",2nd ed., AIAA Education Series
,2004,pp.200-205
[4] S.J.Julier and J.K.Uhlmann,"Unscented filtering and nonlinear
estimation".Proc. IEEE,vol.92,Mar. 2004,pp.401-442.
[5] Jun-hou Wang,Chun-lei Song,Xing Tai Yao,Jia bin Chen,"Sigma Point
H∞ filter for initial alignment in marine starp down inertial
navigation",IEEE 2nd International Conference on Signal Processing
Systems,2010,pp.580-584.
[6] Wenling Li,Yingmi Jia,"H∞ filtering for a class of nonlinear discrete time
systems based on unscented transform",Journal of Signal processing ,vol
90,2010,pp. 3301-3307.
[7] Adriano Solimeno,"Low cost INS/GPS Data fusion with EKF for
airborne applications",University of Lisbon MS thesis,July 2007.
[8] Robert M Rogers, "Applied mathematics in integrated navigation System
",3rd ed., AIAA Education series,2002,pp.101-120
[9] Salah Sukkarieh",Low cost high integrity aided inertial navigation
Systems for Autonomous Land Vehicles", University of Sydney
PhD.thesis, 2000
[10] Qing Wang ,Yong Li,Chris Rizos,Shiyi Li,"The UKF and CDKF for low
cost SDINS/GPS in motion alignment",Int. Symposium on
GPS/GNSS,Yokohama Japan,2008,pp.441-448.
[1] Dan Simon,"Optimal state estimation ,Kalman ,H∞ and nonlinear
approaches",A John Wiley and Sons,INC.,Publication,2006,pp. 331-371
[2] Dan Simon, "From here to infinity, embedded system
programming"(short course), July 2000.
[3] David H.Titterton., John L. Weston, "Strap down inertial
navigationtechnology",2nd ed., AIAA Education Series
,2004,pp.200-205
[4] S.J.Julier and J.K.Uhlmann,"Unscented filtering and nonlinear
estimation".Proc. IEEE,vol.92,Mar. 2004,pp.401-442.
[5] Jun-hou Wang,Chun-lei Song,Xing Tai Yao,Jia bin Chen,"Sigma Point
H∞ filter for initial alignment in marine starp down inertial
navigation",IEEE 2nd International Conference on Signal Processing
Systems,2010,pp.580-584.
[6] Wenling Li,Yingmi Jia,"H∞ filtering for a class of nonlinear discrete time
systems based on unscented transform",Journal of Signal processing ,vol
90,2010,pp. 3301-3307.
[7] Adriano Solimeno,"Low cost INS/GPS Data fusion with EKF for
airborne applications",University of Lisbon MS thesis,July 2007.
[8] Robert M Rogers, "Applied mathematics in integrated navigation System
",3rd ed., AIAA Education series,2002,pp.101-120
[9] Salah Sukkarieh",Low cost high integrity aided inertial navigation
Systems for Autonomous Land Vehicles", University of Sydney
PhD.thesis, 2000
[10] Qing Wang ,Yong Li,Chris Rizos,Shiyi Li,"The UKF and CDKF for low
cost SDINS/GPS in motion alignment",Int. Symposium on
GPS/GNSS,Yokohama Japan,2008,pp.441-448.
@article{"International Journal of Electrical, Electronic and Communication Sciences:59419", author = "Saman M. Siddiqui and Fang Jiancheng", title = "Navigation and Self Alignment of Inertial Systems using Nonlinear H∞ Filters", abstract = "Micro electromechanical sensors (MEMS) play a vital
role along with global positioning devices in navigation of
autonomous vehicles .These sensors are low cost ,easily available but
depict colored noises and unpredictable discontinuities .Conventional
filters like Kalman filters and Sigma point filters are not able to cope
with nonwhite noises. This research has utilized H∞ filter in nonlinear
frame work both with Kalman filter and Unscented filter for
navigation and self alignment of an airborne vehicle. The system is
simulated for colored noises and discontinuities and results are
compared with not robust nonlinear filters. The results are found
40%-70% more robust against colored noises and discontinuities.", keywords = "filtering, integrated navigation, MEMS, nonlinearfiltering, self alignment", volume = "5", number = "11", pages = "1534-6", }